Fall 2013, Development of a Biomimetically Inspired Bumblebee Flapping Wing Micro Air Vehicle Drone

A Short description of project:  

Micro air vehicle (MAV) design has received considerable attention because of the potential such vehicles offer for (stealthy) intelligence gathering, environment mapping, search and rescue, etc.. In this project, Students will leverage the work of prior students to develop a (roughly palm-sized) bumble-bee like MAV. Such a flapping wing MAV can offer significant enhanced maneuverability compared with fixed- and rotary-wing designs. This will involve conducting vehicle trade studies within MATLAB/Simulink. An ASU wind tunnel is available for characterizing lift-drag properties of the vehicle. Computational fluid dynamics (CFD) simulation with ANSYS-FLUENT may be used to validate wind tunnel lift-drag properties of the vehicle's wing. A 3D printer will be used (in part) to manufacture the vehicle. 3D printing is revolutionizing rapid prototyping and computer-aided design manufacturing in many fields. 

Work we did in Spring:

https://sites.google.com/a/asu.edu/michael-thompson/projects/spring-2013-research/mav-research-spring-2013-team

Convering the SolidWorks model to simulink. A basic example of our wings in simulink flapping with a sine function

To digitze  plots

http://www.digitizeit.de/

http://www.youtube.com/watch?v=aFZ_siv4g-Q

watch what he said at 34 min

thats what were doing!!!

A revolutionary video

His CV:

http://www.pranavmistry.com/files/pranav_cv.pdf

A great video by 

Raffaello D'Andrea: The astounding athletic power of quadcopters

Great video on rise of the drones

Wind Tunnel Data Collection for the bumblebee 

Aircraft Aerodynamic Performance Analysis

Figure 1. Aerodynamic efficiency. 

Figure 2. Coefficient of drag vs Angle of Attack. 

Figure 3. Coefficient of lift vs Angle of Attack. 

Figure 4. Polar drag - Cl vs Cd comparing our bumblebee MAV to other vehicles. 

Code to generate plots:

clc

clear

Test1=load('C:\Users\p2admin\Desktop\AIAA Paper writting\wing_forewards_2.txt');

Span=.4001;%m

l=.0794;%m chord length

A=.0103;

L=Test1(:,1);

D=Test1(:,2);

atm=Test1(:,5);

q=Test1(:,4);

P=atm + q;

aoa=Test1(:,6);

aoaplus=zeros(size(8));

Lplus=zeros(size(8));

aoaminus=zeros(size(4));

Lminus=zeros(size(4));

for i = 1:8;

aoaplus(i)=aoa(i);

Lplus(i)=L(i);

i=1+i;

end

for i = 1:4;

aoaminus(i)=aoa(i+8);

Lminus(i)=L(i+8);

i=1+1;

end

%Coefficient of lift

Clplus=zeros(size(8));

for i = 1:8;

Clplus(i)=Lplus(i)/(q(i)*A);

i=1+i;

end

Clminus=zeros(size(4));

for i = 1:4;

Clminus(i)=Lminus(i)/(q(i+8)*A);

i=i+1;

end

FCln=fliplr(Clminus);

Faoan=fliplr(aoaminus);

Cltotal= [FCln Clplus];

aoatotal=[Faoan aoaplus];

grid on

figure(1)

title('C_L vs Angle of Attack (AoA) '); 

ylabel('C_L'):xlabel('AoA');

plot(aoatotal,Cltotal,'b');

% plot(aoatotal3,Cltotal3,'r');

% Coefficient of drag Vs. Coefficient of lift

Dplus=zeros(size(8));

Dminus=zeros(size(4));

for i = 1:8;

Dplus(i)=D(i);

i=1+i;

end

for i = 1:4;

Dminus(i)=D(i+8);

i=1+1;

end

%Coefficient of Drag

Cdplus=zeros(size(8));

for i = 1:8;

Cdplus(i)=Dplus(i)/(q(i+4)*A);

i=1+i;

end

Cdminus=zeros(size(4));

for i = 1:4;

Cdminus(i)=Dminus(i)/(q(i+8)*A);

i=i+1;

end

%re-align array for plot start end points

FixCdn=fliplr(Cdminus);

Cdtotal= [FixCdn Cdplus];

img = imread('ASU_Bumblebee_Solidworks_Model.png');

min_x = 7;

max_x = 11;

min_y = -.5;

max_y = 0.5;

figure(1);

imagesc([min_x max_x], [min_y max_y], flipdim(img,1));

hold on

plot(aoatotal,Cltotal,'b','Linewidth',3);

set(gca,'ydir','normal'); 

% grid on

title('C_L vs Angle of Attack (AoA)','FontWeight','bold'); %red= reversed

ylabel('C_L')

xlabel('AoA');

axis([-11 16 -1 1.5])

%

% Digitized Data from http://www3.nd.edu/~mav/auvsi/torres.htm

%

% http://www3.nd.edu/~mav/auvsi/torres.htm

angleofattack=[-15.6 -14.6 -13.2 -11.6 -9.62 -8.89 -7.67 -6.57  -4.12 -3.02 -2.05 -.950 .275 1.62 2.35 3.57 4.19 5.78 7.0 8.21 9.18 11.0 12.6 14.3 15.4 17.0 19.2];

cl=[-.790 -.703 -.607 -.511 -.441 -.389 -.319 -.249 -.162 -.0742 .0131 .0568 .109 .162 .266 .354 .415 .485 .537 .581 .651  .729 .764 .712 .694 .659 .651];

plot(angleofattack,cl,'r','Linewidth',3)

%

% Digitized Data from http://www3.nd.edu/~mav/auvsi/torres.htm

%

% alpha=[-16 -14.9 -12.7 -9.88 -7.32 -2.44 1.70 5.11 7.19 9.63 11.3 13.3 15.4 16.5];

% cl2=[-.618 -.496 -.373 -.241 -.118 .0661 .242 .382 .540 .680 .785 .899 1.01 1.07];

% plot (alpha,cl2,'y','Linewidth',5)

legend('AR = 4.2, Bumblebee MAV Wing', 'AR=2, Typical Low Aspect Ratio MAV Wing','Location', 'NorthEast')

%Figure 8: Lift and Drag Coefficients versus Angle of Attack for Low Aspect Ratio Wings

legend('Location','north')

grid on

text(-8.5,0.2,...

     '\uparrow Bumblebee MAV',...

     'FontSize',13,'FontWeight','bold')

text(-9,-0.5,'\uparrow Low Aspect Ration MAV',...

     'FontSize',13,'FontWeight','bold')

%% FIGURE 2 OF CD VS AOA

clc;

clear;

Test1=load('C:\Users\p2admin\Desktop\AIAA Paper writting\wing_forewards_2.txt');

Span=.4001;%m

l=.0794;%m chord length

A=.0103;

L=Test1(:,1);

D=Test1(:,2);

atm=Test1(:,5);

q=Test1(:,4);

P=atm + q;

aoa=Test1(:,6);

aoaplus=zeros(size(8));

Lplus=zeros(size(8));

aoaminus=zeros(size(4));

Lminus=zeros(size(4));

for i = 1:8;

aoaplus(i)=aoa(i);

Lplus(i)=L(i);

i=1+i;

end

for i = 1:4;

aoaminus(i)=aoa(i+8);

Lminus(i)=L(i+8);

i=1+1;

end

%Coefficient of lift

Clplus=zeros(size(8));

for i = 1:8;

Clplus(i)=Lplus(i)/(q(i)*A);

i=1+i;

end

Clminus=zeros(size(4));

for i = 1:4;

Clminus(i)=Lminus(i)/(q(i+8)*A);

i=i+1;

end

FCln=fliplr(Clminus);

Faoan=fliplr(aoaminus);

Cltotal= [FCln Clplus];

aoatotal=[Faoan aoaplus];

grid on

figure(1)

title('C_L vs Angle of Attack (AoA) '); 

ylabel('C_L'):xlabel('AoA');

% plot(aoatotal,Cltotal,'b');

% plot(aoatotal3,Cltotal3,'r');

% Coefficient of drag Vs. Coefficient of lift

Dplus=zeros(size(8));

Dminus=zeros(size(4));

for i = 1:8;

Dplus(i)=D(i);

i=1+i;

end

for i = 1:4;

Dminus(i)=D(i+8);

i=1+1;

end

%Coefficient of Drag

Cdplus=zeros(size(8));

for i = 1:8;

Cdplus(i)=Dplus(i)/(q(i+4)*A);

i=1+i;

end

Cdminus=zeros(size(4));

for i = 1:4;

Cdminus(i)=Dminus(i)/(q(i+8)*A);

i=i+1;

end

%re-align array for plot start end points

FixCdn=fliplr(Cdminus);

Cdtotal= [FixCdn Cdplus];

%

%  READS THE IMAGE!!!!!!!!!!

%

img = imread('ASU_Bumblebee_Solidworks_Model.png');

min_x = 5;

max_x = 15;

min_y = -0.4;

max_y = 0;

imagesc([min_x max_x], [min_y max_y], flipdim(img,1));

hold on

%plot drag vs AOA

imagesc([min_x max_x], [min_y max_y], flipdim(img,1));

%hold on

plot(aoatotal,Cdtotal,'b','Linewidth',3);

set(gca,'ydir','normal'); 

% grid on

title('C_D vs Angle of Attack (AoA)'); %red= reversed

ylabel('C_D')

xlabel('AoA');

%

% Digitized Data from http://www3.nd.edu/~mav/auvsi/torres.htm

%

% alpha_d=[-16.3 -15.3 -14.4 -12.7 -11.3 -8.94 -6.25 -4.29 -1.84 .132 2.10 4.70 6.79 9.14 11.2 13.2 15.5];

% cd_AR1=[.267 .241 .220 .165 .115 .0603 .0288 .0262 .0262 .0445 .0838 .165 .220 .280 .335 .369 .432];

% plot(alpha_d,cd_AR1)

%

% Digitized Data from http://www3.nd.edu/~mav/auvsi/torres.htm

%

alpha_Ar2=[-16.6 -15.9 -14.5 -12.9 -11.7 -8.85 -5.69 -1.81 2.77 5.12 6.54 8.66 10.5 12 13.6 14.9 15.9 17.2];

cd_Ar2=[.217 .196 .151 .116 .0742 .0386 .0148 .0237 .0564 .107 .160 .228 .294 .380 .442 .507 .581 .638];

plot (alpha_Ar2,cd_Ar2,'r','Linewidth',3)

legend('AR=4.2,Bumblebee MAV Wing','AR=2, Typical Low Aspect Ratio MAV Wing','Location', 'NorthEast')

axis([-20 20 -.5 1])

legend('Location','north')

grid on

text(-8.5,0.3,...

     '\uparrow Bumblebee MAV',...

     'FontSize',13,'FontWeight','bold')

text(-15,0,'\uparrow Low Aspect Ration MAV',...

     'FontSize',13,'FontWeight','bold')

%% FIGURE 3  OF CD VS CL,   Cd is on the y axis 

%  Cl is on the x axis 

% Coefficient of drag Vs. Coefficient of lift

Dplus=zeros(size(8));

Dminus=zeros(size(4));

for i = 1:8;

Dplus(i)=D(i);

i=1+i;

end

for i = 1:4;

Dminus(i)=D(i+8);

i=1+1;

end

%Coefficient of Drag

Cdplus=zeros(size(8));

for i = 1:8;

Cdplus(i)=Dplus(i)/(q(i+4)*A);

i=1+i;

end

Cdminus=zeros(size(4));

for i = 1:4;

Cdminus(i)=Dminus(i)/(q(i+8)*A);

i=i+1;

end

%re-align array for plot start end points

FixCdn=fliplr(Cdminus);

Cdtotal= [FixCdn Cdplus];

img = imread('ASU_Bumblebee_Solidworks_Model.png');

min_x = -.2;

max_x = 0.2;

min_y = .5;

max_y = 1;

figure(1);

imagesc([min_x max_x], [min_y max_y], flipdim(img,1));

hold on

plot(Cdtotal,Cltotal,'b','Linewidth',3);

set(gca,'ydir','normal'); 

% grid on

title('Drag Polar');

xlabel('C_D')

ylabel('C_L');

cl=[-.0895 .0712 .265 .409 .570 .904 1.04 1.19 1.13 1.09 .927];

cd=[ .0927 .0856 .0905 .131 .194 .432 .606 .831 .960 1.11 1.12];

plot(cd,cl,'r','Linewidth',3)

legend('Re =60,000, Bumblebee MAV Wing','Re=90,000, Colorado MAV','KUMAV','Extra260 MAV')

axis([-.2 1.4 0 1.5])

% 

% %Digitization of the KUMAV

% %CL & Angle of attack 

% 

% aoa_kumav=[-0.08650519 4.584775  9.948097  14.792388  19.982698 24.740484 29.84429];

% cl_kumav=[0.13745454 0.30036363  0.5090909 0.7432727 0.9570909  1.1556363 1.2523637];

% 

% 

% %Cd & Angle of attack 

% aoa_kumav1=[0 5.075188 10.150376 15.319549 20.112782 25.093985];

% cd_kumav=[0.014685315 0.044055942  0.073426574 0.17622377 0.26923078 0.4013986] ;

% 

% %Cd & Cl

cl_kumav2=[0.13745454 0.30036363  0.5090909 0.7432727 0.9570909  1.1556363];

cd_kumav2=[0.014685315 0.044055942  0.073426574 0.17622377 0.26923078 0.4013986]; 

% 

% figure(1)

% plot(aoa_kumav,cl_kumav)

% axis([0 25 0 1.4])

% xlabel('AOA')

% ylabel('cl')

% title('CL vs AOA')

% 

% figure(2)

% plot(aoa_kumav1,cd_kumav)

% %axis([0 25 0 1.4])

% xlabel('AOA')

% ylabel('cd')

% title('CD vs AOA')

plot(cd_kumav2,cl_kumav2,'y','Linewidth',3)

% 

% %

% % Digitized data from extra260 MAV

% %

cd_extra260=[ 0.05235205 0.05842185 0.07132018 0.09635812 0.13125949 0.1737481]

% clcd_extra260=[ -0.0038022813 0.09505703 0.20342205 0.3041825 0.3973384 0.5]

% plot( cd_extra260,clcd_extra260)

% xlabel('Cd')

% ylabel('Cl')

% title('Aerodynamics of Extra260 MAV')

% legend('Polar drag')

% 

cl_extra260=[ 0.015179419 0.10635086 0.19559996 0.2886368 0.37789539 0.47097018]

% aoa_extra260=[ 0.22254325 2.3096635 4.1716027 6.032788 7.969913 10.131843]

% figure(22)

% plot(aoa_extra260,cl_extra260)

% xlabel('AoA')

% ylabel('Cl')

% title('Aerodynamics of Extra260 MAV')

% legend('cl')

% axis([0 11 0 1])

plot(cd_extra260,cl_extra260,'g','Linewidth',3)

xlabel('CD')

ylabel('CL')

title('Polar drag')

legend('Polar drag')

legend('Re =60,000, Bumblebee MAV Wing','Re=90,000, Colorado MAV','KUMAV','Extra260 MAV')

legend('Location','north')

grid on

text(0.4,0.6,...

     '\leftarrow Bumblebee MAV',...

     'FontSize',13,'FontWeight','bold')

text(0.05,0.3,...

     '\leftarrow KUMAV MAV',...

     'FontSize',13,'FontWeight','bold')

text(0.45,0.8,...

     'Low aspect ratio MAV \uparrow ',...

     'FontSize',13,'FontWeight','bold')

text(.1,0.15,...

     '\leftarrow Extra260 MAV',...

     'FontSize',13,'FontWeight','bold')

%% FIGURE 4  OF L/D vs AOA  

img = imread('ASU_Bumblebee_Solidworks_Model.png');

min_x = 5;

max_x = 15;

min_y = -2;

max_y = 0;

hold on

imagesc([min_x max_x], [min_y max_y], flipdim(img,1));

aoa=[-15 -9 -6 -3  0  3 6 9 12 13 14 15];

l=[.07 .07 .12 .16 .21 .28 .28 .31 .30 .31 .30 .30 ];

d=[.10 .10 .11 .11  .12 .13 .15 .19 .21 .22 .21 .22];

m=l./d;

plot(aoa,m,'b-','Linewidth',3)

%

% Colorado paper aero efficiency L/D vs AOA

%

aoa_CMAV=[-4.75 -3.56 -1.98 -.0396 1.78 3.47 5.25 7.23 9.70 12.1 14.2 16.1 18.9];

m_CMAV=[-1.01 -.423 .292 .989 1.72 2.47 3.04 3.17 3.24 3.07 2.96 2.75 2.55];

plot(aoa_CMAV,m_CMAV,'r-','Linewidth',3)

set(gca,'ydir','normal'); 

% grid on

title('Aerodynamic Efficiency');

xlabel('AoA')

ylabel('L/D');

legend('Bumblebee MAV Wing','Colorado MAV','Location', 'NorthEast')

axis([-15 20 -3 6])

legend('Location','north')

grid on

text(-15,2,...

     'Bumblebee MAV \rightarrow ',...

     'FontSize',13,'FontWeight','bold')

text(-15,0,...

     'Colorado MAV \rightarrow',...

     'FontSize',13,'FontWeight','bold')

--------------------------------------------------------------------------

--------------------------------------------------------------------------

--------------------------------------------------------------------------

Test1=load('C:\Users\mjthomp3\Desktop\wind_tunnel_3152013\wing_forewards_2.txt');

Data  of wing_forewards_2

Lift (N) , Drag (N), Temperature (K) , Dynamic Pressure (Pa),  Ambient Pressure (Pa), Angle of attack; Re; Velocity (m/s)

0.21     0.12     303.24 29.54 95600.00 0.00         60356.81 7.33

0.28     0.13     302.90 28.29 95600.00 3.00         59264.85 7.17

0.28     0.15     303.08 27.71 95600.00 6.00         58522.12 7.10

0.31     0.19     302.88 29.05 95600.00 9.00         59996.47 7.27

0.30     0.21     302.62 28.33 95600.00 12.00 59271.56 7.17

0.31     0.22     302.74 28.83 95600.00 13.00 59822.42 7.24

0.30     0.21     302.83 28.25 95600.00 14.00 59225.31 7.17

0.30     0.22     302.78 28.22 95600.00 15.00 59116.66 7.16

0.16     0.11     302.66 29.21 95600.00 -3.00 60263.41 7.29

0.12     0.11     302.52 28.52 95600.00 -6.00 59551.77 7.20

0.07     0.10     302.78 28.88 95600.00 -9.00 59916.86 7.25

-0.06    0.10     302.64 29.61 95600.00 -15.00 60734.01 7.34

--------------------------------------------------------------------------

--------------------------------------------------------------------------

--------------------------------------------------------------------------

Analytical Calculation of lift of our wing

Lift = Pressure * Area

Chord = 0.03048

Span = 0.06096

Area = 0.0010

Aspect Ratio (AR) = 1.999

Lift = 1.393

Need to get 

Lift = 0.21 N

http://www.grc.nasa.gov/WWW/K-12/VirtualAero/BottleRocket/airplane/size.html

Calculate the Cd for an object

http://www.lmnoeng.com/Drag/

A typical plot for drag polar

http://faculty.dwc.edu/sadraey/Chapter%203.%20Drag%20Force%20and%20its%20Coefficient.pdf

http://www.ewp.rpi.edu/hartford/users/papers/engr/ernesto/kapust/EP/Other/References%20-%20Cited/[6]%20Drag_Coefficient_Prediction.pdf

http://physics.info/drag/

Measuring the flapping frequency of the ASU Bumblebee MAV drone. We estimated before the vehicle lost power a maximum of 1000 RPM (1000 revolution/minute = 16.666 666 667 1/second) that the vehicle could produce.

By examining the brushlessmotor that runs the vehicle at approximately 6500 RPM, leads that Bumblebee MAV may have higher flapping frequenies. The flapping frequency of a real bumblebee is approximately 122 Hz. This sheds light in the issues that arise in designing MAVs to mimic real life bumblebees

Lift coefficient

http://en.wikipedia.org/wiki/Lift_coefficient

A quick guide to convert RPM to Hz.

http://www.onlineconversion.com/frequency.htm

Objectives for this semester:

1. Using First Principles-classify the vehicle as a shape. Find Cd for that shape. Analytically approximate

the Cd for our vehicle. Add contribution of Cd of all shapes.

2. Obtain drag of wings and drag of body. Add both drags to obtain total drag of vehicle.

3. Obtain flapping frequency as a function of the stroke plane.

3.1 Determine how fast need to flap to maintain altitude?

3.2 Determine stability of the vehicle. F= mg.

4. Determine plots of Cd vs AOA, Cl vs AOA, and lift vs flapping frequency for the entire vehicle

5. Maybe relevant to find Cd for a car.

ASU Bumblebee Micro Air Vehicle drone

Solid Works model designed by John Burnett 

The Fall 2013 MAV Research Team.

Making the wings for the bumblebee and dragonfly and using a 3D printer to print Solid Works Parts

IEEE Control Systems Society & American Automatic Control Council

PaperPlaza

Conference Manuscript Management and Registration System

97702

R8Wwf

https://css.paperplaza.net/conferences/scripts/pinwizard.pl

 LaTEX

http://css.paperplaza.net/conferences/support/tex.php

Setting up the mean stream flow in the negative z direction to flow over the wing at 1.7 m/s

Steven Ho abstract:

The creation of micro air vehicles (MAVs) of the same general sizes and weight as natural fliers has spawned renewed

interest in flapping wing flight. With a wingspan of approximately 15 cm and a flight speed of a few meters per second,

MAVs experience the same low Reynolds number (104–105) flight conditions as their biological counterparts. In this

flow regime, rigid fixed wings drop dramatically in aerodynamic performance while flexible flapping wings gain efficacy

and are the preferred propulsion method for small natural fliers. Researchers have long realized that steady-state

aerodynamics does not properly capture the physical phenomena or forces present in flapping flight at this scale. Hence,

unsteady flow mechanisms must dominate this regime. Furthermore, due to the low flight speeds, any disturbance such

as gusts or wind will dramatically change the aerodynamic conditions around the MAV. In response, a suitable

feedback control system and actuation technology must be developed so that the wing can maintain its aerodynamic

efficiency in this extremely dynamic situation; one where the unsteady separated flow field and wing structure are tightly

coupled and interact nonlinearly. For instance, birds and bats control their flexible wings with muscle tissue to

successfully deal with rapid changes in the flow environment. Drawing from their example, perhaps MAVs can use

lightweight actuators in conjunction with adaptive feedback control to shape the wing and achieve active flow control.

This article first reviews the scaling laws and unsteady flow regime constraining both biological and man-made fliers.

Then a summary of vortex dominated unsteady aerodynamics follows. Next, aeroelastic coupling and its effect on lift

and thrust are discussed. Afterwards, flow control strategies found in nature and devised by man to deal with separated

flows are examined. Recent work is also presented in using microelectromechanical systems (MEMS) actuators and

angular speed variation to achieve active flow control for MAVs. Finally, an explanation for aerodynamic gains seen in

flexible versus rigid membrane wings, derived from an unsteady three-dimensional computational fluid dynamics model

with an integrated distributed control algorithm, is presented.

Showing in unsteady flow, the lift coefficients of wings with rigid leading edges increased rapidly while

that of flexible leading edges lost lift.

This is likely due to the presence of large deformations along the leading edge of the flexible wing 

that disrupted the unsteady leading edge vortex, resulting in a loss of vortex lift.

These two identical wings were tested and compared according to the CT; defined as

CT = T / 0.5*rho*U^2*S

where T is the thrust force, rho is the local air density, U is

the forward flight velocity, and S is the wing planform area.

Both wings have the same sized carbon fiber spars, but one wing has a paper membrane while the other has

a Mylar membrane. The paper membrane is less flexible than the Mylar wing due to the higher stiffness of paper.

From Steven Ho, "Unsteady aerodynamics and flow control flapping wing flyers." 

The lift and drag produced by a flapping wing that rotates about an axis is strongly affected by flap frequency, flap angle (also called amplitude) and wingspan. Assuming the arc over which the wing oscillates about has a fixed distance, only the time it takes for the wing to pass through that act is what determines it's velocity. If the frequency increases, the time over which this distance is covered decreases and the velocity increases. As lift increases with the square of the airflow velocity, it can be said that lift the lift produced by a flapping wing also increases with the square of the flapping frequency. 

t = 1/f

V = d/t = d*f

L ~ V^2 = (d*f)^2

where:

f = flap frequency

d = arc distance

t = time

V = velocity

L = lift

From

 http://www.rcgroups.com/forums/showthread.php?t=1833621

admin password and username

.\p2admin

password

Micro2013ASU

 https://confluence.cornell.edu/display/SIMULATION/ANSYS+WB+-+Airfoil+-+Results

CFD Analysis on the Wing in FLUENT

The figure above represents the actual wing and solid works model wing in FLUENT.

The goal is to obtain the lift and drag on the wing plots.

Angle Definition of the Bolendar Paper

Posters for MGE@MSA conference MArch 4th.

Current Prototype-Bee Type Ornithopter:

Makerbot 3D printing Optimized thorax part for ASU Bumblebee MAV 

Rubber Band Model

http://www.shapeways.com/model/927914/flying-pants-3d.html?li=user-profile

3D Printing -Initial Optimized thorax part for ASU Bumblebee MAV

D Slotted Accentric part

Makerbot 3D Printer 

Displaying the Accuracy of the made part

D-slot  optimized part

The left is the old part 

and the right is the optimized made Makerbot 3D printed part

Wingroot optimized part

The bottom is the old part 

and the top is the optimized made Makerbot 3D printed part

Wingroot optimized part retrofited

The right is the old part 

and the left is the optimized made Makerbot 3D printed part

Meet the ASU MAV team!

1) Michael Thompson

Lead CFD engineer | ASU Micro Aerial Vehicles Research Team

Major: Mechanical Engineering

Email: mjthomp3@asu.edu

Cell 602 373 9921

2) John Burnett,

Lead senior design/manufacture engineer | ASU Micro Aerial Vehicles Research Team

Phone #:602 292 4795

Major: Aerospace Engineering

ASU Aluni

email: jsburnet@asu.edu

3) Dwight Hansen; he has been working with me since last semester on the research team

Name  Dwight Hansen

Major  Mechanical Engineering 

Email dhanson4@asu.edu

Expected Graduation: 5/2013

Phone number: 928 919 3508

4) Daniel Lopez, he has been working with me since last semester on the research team

Design Engineer Coop | Subzero Group Inc.

Design Engineer | ASU Micro Aerial Vehicles Research Team

MAES at ASU | Co-President

Name Daniel Lopez

Phone #:928 446 8622

Major: Aerospace Engineering

Expected Graduation: 5/2013

email:Daniel.D.Lopez@asu.edu 

5) Shiba Biswal,

Lead Controls engineer | ASU Micro Aerial Vehicles Research Team

Name Daniel Lopez

Phone # 480 414 5154

Major: Mechanical Engineering

Masters student

email:sbiswal@asu.edu

 6) Deyzi Ixtabalan

 CFD Engineer | ASU Micro Aerial Vehicles Research Team

Phone #:602 4347319

Major: Aerospace Engineering

email:dixtabal@asu.edu

7) Michael Ridge

Phone #:602-903-0364

Major: Mechanical Engineering

mgridge@asu.edu

8) Dray Doddington 

Phone #:

Major: Mechanical Engineering

ddodding@asu.edu

9) Ruby Gomez

Major: Astronautics Engineering

Past Participants:

Ivan Ramirez, Civil engineering

We are working with Dr. Rodriguez and Dr. Squires.

on the project entitled

 "Development of a Biomimetically Inspired Flapping Wing Micro Air Vehicle Drone"

A Short description of project:  

Micro air vehicle (MAV) design has received considerable attention because of the potential such vehicles offer for (stealthy) intelligence gathering, environment mapping, search and rescue, etc.. In this project, Students will leverage the work of prior students to develop a (roughly palm-sized) bumble-bee like MAV. Such a flapping wing MAV can offer significant enhanced maneuverability compared with fixed- and rotary-wing designs. This will involve conducting vehicle trade studies within MATLAB/Simulink. An ASU wind tunnel is available for characterizing lift-drag properties of the vehicle. Computational fluid dynamics (CFD) simulation with ANSYS-FLUENT may be used to validate wind tunnel lift-drag properties of the vehicle's wing. A 3D printer will be used (in part) to manufacture the vehicle. 3D printing is revolutionizing rapid prototyping and computer-aided design manufacturing in many fields. 

We will break the team into the following:

* Note: Everybody should be friendly and allow others to work inside

other groups, this is to structure the groups so people can say what they

primarily worked on even though people may work in ALL SKILL TEAM AREAS!!

The meeting for Wednesday:

1. The design team will come in and take caliper readings of the vehicle to measure the parameters of the vehicle.

2. Understand the inter-workings of the vehicle, i.e if this moves what happens? Trade-studies

3. Begin initial hand work new/modified/enhanced planning of more Bumblebee micro air vehicle drones

   i.e use a test matrix, use design of experiments, inc/dec length of wings? less material of the body

4. By the end of the meeting several concepts for flapping wing articulations should be done in order to continue to the next meeting.

    i.e an excel spreadsheet with a test matrix for different parameter lengths/widths of vehicle and wings to be presented in next meeting

    should show adequate understanding of how the vehicle works!!

The components of the vehicle can be brocken up into the following:

1) Structural

    Why do we use carbon fiber for the wings?

    what are the limits of the 3D printer PDL plastic material we are using? i.e too much stress on the arm causes deformation to the plastic

    what is the weight of the vehicle? How much does it need to weigh to overcome gravity to fly?

    What is the g factor for the vehcle?

2) Electrical

    Motor control

    Li-Po battery

    what is the size of the battery?

    how much power does the battery support? i.e energy-density

    Servo mechanics

    gyro 

    arduino

    software

    power

    radio

    controller

3) Controls

    what type of controller to use? i.e PD, PID

4) System

    Articulation of the vehicle?

    How do the wings articulate in flight?

    What is the wing beat frequency of the vehicle?

    Motor

    electro/mechanical

5) Aerodynamics/CFD

    What is the lift on the wings?

    what is the drag on the wings?

    What is the lift to drag ratio?

    What is the drag on the entire vehicle?

6) Planned Testing

    load cell testing

    how to conduct the appropriate tests?

    How should the tests be performed?

    Latent software

We will break the team into the following:

* Note: Everybody should be friendly and allow others to work inside

other groups, this is to structure the groups so people can say what they

primarily worked on even though people may work in ALL SKILL TEAM AREAS!!

A. Design Skill team with Solid Works 13:

1. John Burnett, Aero. engineering. Graduate student.

2. Daniel Lopez, Aero. engineering. Senior, Undergraduate.

3. MAE 488/489 team-

1. Building/Manufacturing/ Testing engineering Skill team:

1. John Burnett, Aero. engineering. Graduate student.

2. Daniel Lopez, Aero. engineering. Senior, Undergraduate.

3. MAE 488/489 team-

B. Computational fluid dynamics Skill team with ANSYS-FLUENT 14.5:

**The CFD group is to ensure the lift/drag/velocity/pressure diff is optimal for the wing and

body/fuselage of the vehicle.

1. Michael Thompson, Mech, engineering. 2nd year graduate student.

2. Deyzi Ixtabalan, Aero, engineering. senior, undergraduate.

1. A Controls Skill team with Simulink/Matlab:

**The controls skill team is to ensure that the vehicle is stable in flight.

 1. Shiba Biswal, Mech, engineering. 2nd year graduate student.

 2. Dwight, Mech, engineering, Junior, undergraduate

Our research lab is GWC 379.Please come at 10AM on Saturday.

We need to have 1 meeting per week with the entire team to discuss

the progress of the skill team and/or project.

During the week, you may have your individual team meetings/solo work.

The students that will be using it will be for MAE 488/489 senior design group 

and MAE 792 research.

 ****Any work we do will be placed on my website here:

this will allow us to see how the progress of the team is going.

https://sites.google.com/a/asu.edu/michael-thompson/projects/summer-mav-2013

Our MAV Books

Flapping Wing Design for a Dragonfly-Like Micro Air Vehicle.

http://www.amazon.com/Flapping-Design-Dragonfly-Like-Micro-Vehicle/dp/1249840856  

 Drag force of flight

http://www.cox7.com/is-wind-a-drag 

 3D printing

http://hackaday.com/2013/08/21/amazing-flight-of-a-3d-printed-rubber-band-powered-ornithopter/ 

Senior Design 

Toward Biologically Inspired Human-Carrying Ornithopter Robot Capable of Hover

http://www.wpi.edu/Pubs/E-project/Available/E-project-042613-114244/unrestricted/Wing_MQP_Report-2013-04-27_final.pdf

Need to Meet Schedule for Saturdays

http://www.needtomeet.com/meeting?id=pza787frV

Science Technology Engineering Mathematics (STEAM) - Program:

Start off video:

https://www.youtube.com/watch?v=qHLv8mjU5Y0#start=0:00;end=1:17;cycles=-1;autoreplay=false;showoptions=false

where we bought the Kits:

http://www.ornithopter.org/

Article for the Fall 2013 Program:

http://news.gcu.edu/2013/10/young-students-of-flight-to-land-at-gcu-for-six-saturdays-2/

general presentation that can be presented to the students to introduce the to engineering and some of the types of engineering specialties. 

Additionally, here are some links that you can look at to get more familiar with the Socratic Method of instruction:

• http://serc.carleton.edu/introgeo/socratic/fourth.html

• http://www.learnnc.org/lp/pages/4994

• https://www.teachingchannel.org/videos/bring-socratic-seminars-to-the-classroom